feat(stm32): FreeRTOS board config — first bootable G474RE binary#418
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feat(stm32): FreeRTOS board config — first bootable G474RE binary#418nhuvaoanh123 wants to merge 7 commits into
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Add ThreadX RTOS support as an alternative to FreeRTOS for STM32 platforms: - ThreadX Cortex-M4 GNU port (context save/restore, scheduler, timer ISR) - tx_port.h and tx_user.h configuration for G474RE - ThreadX core configuration module for NUCLEO-G474RE - Updated platform CMakeLists for dual-RTOS selection Build with: `cmake --preset nucleo-g474re-threadx-gcc` The main/ directory (PR 6) already contains ThreadX-specific hooks (tx_initialize_low_level.S, tx_execution_initialize.c, osHooks/threadx/). Milestone: `cmake --preset nucleo-g474re-threadx-gcc` configures successfully. Depends on eclipse-openbsw#418 (PR 6: FreeRTOS board config). PR 7 of 10.
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Add ThreadX RTOS support as an alternative to FreeRTOS for STM32 platforms: - ThreadX Cortex-M4 GNU port (context save/restore, scheduler, timer ISR) - tx_port.h and tx_user.h configuration for G474RE - ThreadX core configuration module for NUCLEO-G474RE - Updated platform CMakeLists for dual-RTOS selection Build with: `cmake --preset nucleo-g474re-threadx-gcc` The main/ directory (PR 6) already contains ThreadX-specific hooks (tx_initialize_low_level.S, tx_execution_initialize.c, osHooks/threadx/). Milestone: `cmake --preset nucleo-g474re-threadx-gcc` configures successfully. Depends on eclipse-openbsw#418 (PR 6: FreeRTOS board config). PR 7 of 10.
…ker scripts Add the STM32 platform skeleton for OpenBSW, supporting both STM32F4 (bxCAN) and STM32G4 (FDCAN) families via chip selection cmake variables. Contents: - ARM CMSIS-Core headers (Cortex-M4) with Apache-2.0 license - ST device headers for STM32F413ZH and STM32G474RE - GNU AS startup files and linker scripts for both chips - Chip-selection cmake modules (stm32f413zh.cmake, stm32g474re.cmake) - CMakePresets for NUCLEO-G474RE and NUCLEO-F413ZH (FreeRTOS + ThreadX) - Platform integration in root CMakeLists.txt Milestone: `cmake --preset nucleo-g474re-freertos-gcc` configures successfully. This is PR 1 of 10 — subsequent PRs add BSP drivers, RTOS config, and UDS services.
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Add ThreadX RTOS support as an alternative to FreeRTOS for STM32 platforms: - ThreadX Cortex-M4 GNU port (context save/restore, scheduler, timer ISR) - tx_port.h and tx_user.h configuration for G474RE - ThreadX core configuration module for NUCLEO-G474RE - Updated platform CMakeLists for dual-RTOS selection Build with: `cmake --preset nucleo-g474re-threadx-gcc` The main/ directory (PR 6) already contains ThreadX-specific hooks (tx_initialize_low_level.S, tx_execution_initialize.c, osHooks/threadx/). Milestone: `cmake --preset nucleo-g474re-threadx-gcc` configures successfully. Depends on eclipse-openbsw#418 (PR 6: FreeRTOS board config). PR 7 of 10.
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Add ThreadX RTOS support as an alternative to FreeRTOS for STM32 platforms: - ThreadX Cortex-M4 GNU port (context save/restore, scheduler, timer ISR) - tx_port.h and tx_user.h configuration for G474RE - ThreadX core configuration module for NUCLEO-G474RE - Updated platform CMakeLists for dual-RTOS selection Build with: `cmake --preset nucleo-g474re-threadx-gcc` The main/ directory (PR 6) already contains ThreadX-specific hooks (tx_initialize_low_level.S, tx_execution_initialize.c, osHooks/threadx/). Milestone: `cmake --preset nucleo-g474re-threadx-gcc` configures successfully. Depends on eclipse-openbsw#418 (PR 6: FreeRTOS board config). PR 7 of 10.
- Change .fpu softvfp → fpv4-sp-d16 in both startup files to match the toolchain's -mfloat-abi=hard -mfpu=fpv4-sp-d16 flags. The mismatch produced conflicting ELF float ABI attributes. - Add FPU CP10/CP11 enable block to F413 startup (was only in G474). Both are Cortex-M4F; ThreadX needs early FPU access since it does not enable the FPU in its port (unlike FreeRTOS port.c). - Add OPENBSW_PLATFORM=stm32 branch to root CMakeLists.txt so the tests-stm32-debug preset no longer hits FATAL_ERROR at configure. Add platforms/stm32/unitTest/ stub (mirrors s32k1xx pattern). - Add ST BSD-3-Clause LICENSE file under 3rdparty/st/ for vendor header compliance — the headers reference a LICENSE file that was missing. - Remove dead bspMcu/linker/ scripts and STM32_LINKER_SCRIPT cmake variables. The real linker scripts live in each board's referenceApp/platforms/*/main/linkerscript/application.ld, wired via PROP_LINKER_SCRIPT on the startUp INTERFACE library. Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Add the complete low-level BSP layer for STM32F4/G4 platforms: - bspClock: Clock configuration for F4 (100 MHz HSE) and G4 (170 MHz PLL) - bspUart: USART2 driver with DMA-ready ring buffer, VCP console output - bspIo: GPIO driver with pin configuration (AF, push-pull, speed) - bspTimer: SysTick-based system timer for RTOS tick and delays - bspInterruptsImpl: NVIC interrupt enable/disable (FreeRTOS + ThreadX variants) - bspAdc: ADC driver for analog inputs - bspEepromDriver: Flash-based EEPROM emulation - etlImpl: ETL clock and print backends for STM32 - bspConfiguration: NUCLEO-G474RE board pin mappings (UART, LED, etc.) Milestone: cmake configures with all BSP modules. Boots to UART console with PR 6 (RTOS). Depends on PR 1 (MCU foundation). PR 2 of 10.
Add CAN peripheral drivers for both STM32 CAN controller variants: - BxCanDevice: Basic Extended CAN controller (STM32F4 family) - FdCanDevice: Flexible Data-rate CAN controller (STM32G4 family) - BxCanTransceiver: OpenBSW CAN transceiver adapter for bxCAN - Unit test infrastructure (unitTest CMakeLists, mock device headers) The bspCan module uses compile-time chip selection (CAN_TYPE=BXCAN|FDCAN) to build only the relevant driver. Tests use mock register headers for host-based verification. Milestone: `cmake --preset tests-stm32-debug` configures. Tests run in CI Docker. Depends on eclipse-openbsw#414 (PR 2: BSP drivers). PR 3 of 10.
Add the FdCanTransceiver module — OpenBSW ICanTransceiver adapter for STM32G4 FDCAN peripheral. Mirrors the bxCAN transceiver from PR 3 but supports FD frames (up to 64-byte payload) and extended filter banks. - FdCanTransceiver: ICanTransceiver implementation for FDCAN - Unit tests with mock FdCanDevice headers for host verification - Updated bsp/CMakeLists.txt for CAN_TYPE-based transceiver selection Milestone: `cmake --preset tests-stm32-debug` configures with both transceivers. Depends on eclipse-openbsw#415 (PR 3: bxCAN/FDCAN drivers). PR 4 of 10.
Add fault handling and watchdog safety infrastructure: - hardFaultHandler: ARM Cortex-M4 HardFault handler in assembly — captures register state (R0-R12, LR, PC, PSR) for post-mortem analysis - safeBspMcuWatchdog: IWDG (Independent Watchdog) driver with configurable timeout, kick interface, and reset-reason detection - SafetyManager: Board-level safety lifecycle integration for G474RE Milestone: cmake configures with safety modules. Watchdog activates with PR 6 (RTOS). Depends on eclipse-openbsw#416 (PR 4: FDCAN transceiver). PR 5 of 10.
Add FreeRTOS Cortex-M4 port and NUCLEO-G474RE board configuration, producing the first bootable reference app binary for STM32. - FreeRTOS CM4 SysTick port (port.c, portmacro.h) for Cortex-M4F - FreeRTOS core configuration (FreeRTOSConfig.h for G474RE) - Board main: startup, clock init, UART console, task creation - StaticBsp: lifecycle hooks for BSP init/shutdown - CAN system integration (ISR handlers, CanSystem task) - Application linker script for G474RE (512 KB Flash, 128 KB SRAM) - Full Options.cmake with platform feature flags OpenBSW now supports dual-RTOS design: FreeRTOS (this PR) and ThreadX (PR 7), selectable at configure time via BUILD_TARGET_RTOS. Milestone: `cmake --build --preset nucleo-g474re-freertos-gcc` produces bootable ELF. Reference app boots on NUCLEO-G474RE with UART console output. Depends on eclipse-openbsw#417 (PR 5: safety). PR 6 of 10.
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Add ThreadX RTOS support as an alternative to FreeRTOS for STM32 platforms: - ThreadX Cortex-M4 GNU port (context save/restore, scheduler, timer ISR) - tx_port.h and tx_user.h configuration for G474RE - ThreadX core configuration module for NUCLEO-G474RE - Updated platform CMakeLists for dual-RTOS selection Build with: `cmake --preset nucleo-g474re-threadx-gcc` The main/ directory (PR 6) already contains ThreadX-specific hooks (tx_initialize_low_level.S, tx_execution_initialize.c, osHooks/threadx/). Milestone: `cmake --preset nucleo-g474re-threadx-gcc` configures successfully. Depends on eclipse-openbsw#418 (PR 6: FreeRTOS board config). PR 7 of 10.
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Purpose of this PR
Description
Sixth PR in the STM32 platform series. This is the key integration PR — it produces the first bootable reference app binary for NUCLEO-G474RE.
What's included
port.c,portmacro.h)FreeRTOSConfig.htuned for G474RE (170 MHz, 128 KB SRAM)main.cpp): clock init → UART console → FreeRTOS scheduler startDual-RTOS architecture
OpenBSW supports both FreeRTOS and ThreadX on STM32, selectable at configure time via
BUILD_TARGET_RTOS. This PR adds FreeRTOS; PR 7 adds ThreadX. Themain/directory contains RTOS-specific hooks in separate subdirectories (osHooks/freertos/,osHooks/threadx/).Milestone
cmake --build --preset nucleo-g474re-freertos-gccproduces a bootable ELF (6.5 MB with debug info). Reference app boots on NUCLEO-G474RE with UART console output at 115200 baud.Depends on #417 (PR 5: safety). PR 6 of 10.
Related Issues
Part of STM32 platform port — see #413 for series overview.
Breaking Changes
Test Plan
CC=arm-none-eabi-gcc CXX=arm-none-eabi-g++ cmake --preset nucleo-g474re-freertos-gcc && cmake --build --preset nucleo-g474re-freertos-gccRegression Tests
Have tests been added/updated? [ ] Yes [x] No — this PR enables on-target testing; HIL tests in PR 10